Motion control for robots based on cubic Hermite splines in real-time

This paper deals with the path planning and path tracking using the cubic Hermite splines in real-time control of wheeled robots. The first part describes problems of motion control in real-time. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are also covered. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints and minimum driving time. Feedback and feedforward controllers are used to control the motion on the calculated trajectory. The paper concludes with experimental results of the presented solution of robot control. The results of the proposed method after online trajectory adjustment and recomputation are presented.